In early 1993 the space robot technology experiment ROTEX was flown with space-shuttle Columbia. A multisensory robot onboard the spacecraft successfully worked in autonomous modes, teleoperated by astronauts, as well as in different telerobotic ground control modes. These included online teleoperational and telesensor-programming: a task-level oriented programming technique involving learning-by-showing concepts in a virtual environment. The robot's key features were its multisensory gripper and the local sensory feedback schemes that are the basis for shared autonomy. The corresponding man-machine interface concepts, which use a six-degree-of-freedom non-force-reflecting control ball and visual feedback to the human operator, are explained. Stereographic simulation on the ground was used to predict not only the robot's free motion but even the sensor-based path refinement onboard. Prototype tasks performed by this space robot were the assembly of a truss structure, connecting/disconnecting an electrical plug (orbit replaceable unit exchange), and grasping free-floating objects.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Sensor-based space robotics-ROTEX and its telerobotic features


    Weitere Titelangaben:

    ROTEX, der sensorunterstützte Roboter für die Raumfahrttechnik und seine Teleoperationseigenschaften


    Beteiligte:
    Hirzinger, G. (Autor:in) / Brunner, B. (Autor:in) / Dietrich, J. (Autor:in) / Heindl, J. (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    1993


    Format / Umfang :

    15 Seiten, 21 Quellen




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch




    ROTEX: space telerobotic flight experiment

    Hirzinger, Gerd / Landzettel, Klaus L. / Heindl, J. | SPIE | 1993




    Telerobotic work system-space robotics application

    Jenkins, L.M. | Tema Archiv | 1986


    ROTEX - The First Robot in Space

    Hirzinger, G. / Dietrich, J. / Heindl, J. et al. | SAE Technical Papers | 1994